Method for positioning a body along continuous-range inclination and rotation angles

ABSTRACT

In a system for controlling the inclination angle and rotation angle of a body, a rotary actuator is coupled to a base. A pivot actuator is coupled to an output shaft of the rotary actuator. The rotary actuator controls the angular position of the pivot actuator. A displacement member is coupled to an output shaft of the pivot actuator. The pivot actuator controls the linear position of the displacement member. A support shaft is pivotably coupled to the displacement member. A spherical bearing includes a socket that is coupled to the base and a ball that is coupled to the support shaft. In this manner, the angular position and linear position of the displacement member is translated to a corresponding rotation angle and inclination angle in the support shaft. This system provides for a continuous range of rotation of the upper body and a continuous range of inclination angles in the upper body relative to the lower base. An optional system for deploying the legs provides for continuous, controlled motion in their release. In doing so, the present invention provides a system with a higher degree of flexibility, precision and reliability.

RELATED APPLICATION

This application is a divisional of U.S. application Ser. No.10/724,855, filed on Dec. 1, 2003 now U.S. Pat. No. 6,820,531, thecontents of which are herein incorporated by reference in theirentirety.

BACKGROUND OF THE INVENTION

Sensor or combined sensor-munition field units (“field units”), such aswide area munitions, are commonly distributed across a predefined regionof a defensive position. Such units are deployed according to a numberof techniques, including scattering from an air position, dropping froma moving truck, or hand-placement by installation personnel. Upondeployment, a field unit is required to right itself so that sensors canbegin to sweep for threats or targets of interest.

A field unit may include a large upper body, e.g., in the shape of acanister, that is suspended above a lower base. The base may includevarious mechanisms for rotating and positioning the upper body. Aplurality of feet or legs are typically released from the base forrighting and stabilizing the unit. The upper body houses various systemswhich may include, for example, a munition or plurality of submunitions,antennae, seismic sensors, acoustic sensors, optic sensors, radarsensors, and the like.

Upon determination of a threat or target of interest, the base mechanismcauses the upper body to cant or incline at a pre-defined angle and torotate in order to orient the associated sensors or munitions in thegeneral direction of the threat. Accordingly, additional data can becollected on the target, and, if desired, a munition launched in thatdirection.

In conventional field units, the upper body rotates relative to the baseat fixed, indexed increments, for example at 9 degree increments, usingcomplicated mechanical systems. In addition, the angle of theinclination is also fixed, for example, to a 45 degree inclinationangle. Such units rely primarily on mechanical systems for righting androtational positioning. They include for example, large-load springsthat are used to deploy the feet for righting the unit. While suchsprings are the most reliable springs available, they tend to besingle-use springs and are therefore expensive. In addition, they aredifficult to replace and service, and in fact are dangerous forinstallation personnel, since untimely activation can result in severeinjury.

In addition, the rotation mechanism, being fixed at 9 degree indexedincrements, does not afford a high degree of precision that mightotherwise be desired in modern tracking systems. This applies as well tothe fixed 45 degree inclination angle of the upper body. Fixedinclination and rotation angles tend to limit the functionality andeffectiveness of these units.

SUMMARY OF THE INVENTION

The present invention is directed to a system and method that addressthe limitations of the conventional approaches. In particular, thepresent invention provides a system by which a deployed field unitprovides for a continuous range of rotation of the upper body and acontinuous range of cant or inclination angle in the upper body relativeto the lower base. An optional system for deploying the legs providesfor continuous, controlled motion in their release. In doing so, thepresent invention provides a system with a higher degree of flexibility,precision and reliability.

In one aspect, the present invention is directed to a system forcontrolling the inclination angle and rotation angle of a body. A rotaryactuator is coupled to a base. A pivot actuator is coupled to an outputshaft of the rotary actuator. The rotary actuator controls the angularposition of the pivot actuator. A displacement member is coupled to anoutput shaft of the pivot actuator. The pivot actuator controls thelinear position of the displacement member. A support shaft is pivotablycoupled to the displacement member. A bearing, for example a sphericalbearing, includes a fixed portion that is coupled to the base and amoving portion that is coupled to the support shaft. In this manner, theangular position and linear position of the displacement member istranslated to a corresponding rotation angle and inclination angle inthe support shaft.

In one embodiment, the support shaft extends from the displacementmember through the bearing. The bearing may comprise, for example, aspherical bearing, in which case, the fixed portion comprises a socketand the moving portion comprises a ball. A body, for example, comprisinga munition, a plurality of submunitions, antenna, seismic sensor,acoustic sensor or optic sensor is coupled to the support shaft.

In another embodiment, the rotary actuator comprises a stepper motor. Aplatform is coupled to the output shaft of the rotary actuator, and thepivot actuator is coupled to the platform. The pivot actuator maycomprise, for example, a linear actuator. In one example, the linearactuator comprises a stepper motor that induces motion in a threadedscrew, and the displacement member comprises a displacement carriage,the threaded screw communicating with a corresponding thread in thedisplacement carriage for inducing linear motion in the displacementcarriage. The linear actuator may further comprise a rail, and thedisplacement carriage is slidably mounted to the rail. In anotherexample, the linear actuator comprises a stepper motor that induceslinear motion in the output shaft, the output shaft communicating withthe displacement member for inducing linear motion in the displacementmember.

In another embodiment, the support shaft includes a spherical bearingand the displacement member includes a socket for communicating with thespherical bearing of the support shaft. Alternatively, the support shaftmay include a disk bearing. The base may further comprise a shroud forhousing the base, in which case the fixed portion of the bearing iscoupled to the shroud. The weight of the body is substantially supportedby the shroud.

In this manner, the rotary actuator controls the angular position of thepivot actuator over a continuous range of angular positions, and thepivot actuator controls the linear position of the displacement memberover a continuous range of linear positions.

In another embodiment, a plurality of legs are rotatably coupled to thebody. An articulated joint network couples the legs and a motor rotatesthe joint network for collectively deploying the legs.

In another aspect, the present invention is directed to a system forcontrolling the inclination angle and rotation angle of a body. Thesystem includes a base, a rotary actuator, a linear actuator, and adisplacement member. The linear actuator controls the linear position ofthe displacement member and the rotary actuator controls the angularposition of the displacement member. A support shaft is pivotablycoupled to the displacement member. A housing is coupled to the base forhousing the rotary actuator, linear actuator and displacement member. Abearing includes a fixed portion that is coupled to the housing and amoving portion that is coupled to the support shaft. In this manner, theangular position and linear position of the displacement member istranslated to a corresponding rotation angle and inclination angle inthe support shaft.

In another aspect, the present invention is directed to a method forcontrolling the inclination angle and rotation angle of a body. Theangular position of a displacement member is controlled about alongitudinal axis of a base over a continuous range of angularpositions. The linear position of the displacement member is controlledrelative to the longitudinal axis of the base over a continuous range oflinear positions. The displacement member is pivotably coupled to asupport shaft of the body at a first position of the support shaft andthe support shaft is pivotably coupled to the base at a second positionof the support shaft. In this manner, the angular position and linearposition of the displacement member is translated to a correspondingrotation angle and inclination angle in the support shaft.

In another aspect, the present invention is directed to a method forpositioning a body. A support shaft is moved through a continuous rangeof inclination angles relative to a base. The support shaft is rotatedthrough a continuous range of rotation angles about an axis of rotation.A body coupled to the support shaft is thereby moved to a desiredrotation angle and inclination angle.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other objects, features and advantages of theinvention will be apparent from the more particular description ofpreferred embodiments of the invention, as illustrated in theaccompanying drawings in which like reference characters refer to thesame parts throughout the different views. The drawings are notnecessarily to scale, emphasis instead being placed upon illustratingthe principles of the invention.

FIG. 1 is a cutaway side view of an embodiment of the present invention.

FIG. 2 is a perspective view of the embodiment of FIG. 1, with the outershroud of the base removed for further viewing of internal components.

FIG. 3 is a perspective view of the positioning actuator of theembodiment of FIG. 1, in accordance with the present invention.

FIG. 4 is a sectional side view of the embodiment of FIG. 1, inaccordance with the present invention.

FIG. 5A is a sectional side view of the embodiment of FIG. 1,illustrating the operation of the pivot actuator, in accordance with thepresent invention. FIG. 5B is a sectional side view of the embodiment ofFIG. 1, illustrating the operation of the rotary actuator, in accordancewith the present invention.

FIG. 6A is a perspective view of the interface of the support shaftbearing and the carriage socket according to a first spherical bearingembodiment, in accordance with the present invention. FIGS. 6B and 6Care side views of the interaction of the carriage socket, sphericalshaft bearing and the spherical bearing of the shroud, in accordancewith the present invention.

FIG. 7A is a perspective view of the interface of the support shaftbearing and the carriage socket according to a second disk bearingembodiment, in accordance with the present invention. FIGS. 7B and 7Care side views of the interaction of the carriage socket, disk shaftbearing and spherical bearing of the shroud, in accordance with thepresent invention.

FIG. 8 is a flow diagram of a method of controlling the rotation angleand inclination angle of a body in accordance with the presentinvention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

With reference to FIG. 1, a field unit employing a positioning system inaccordance with the present invention includes an upper body 22, a base24 and a plurality of legs 26. In this embodiment, the field unit 20 isgenerally cylindrical in shape. Other shapes are equally applicable tothe principles of the present invention.

The legs 26 are distributed about the lower perimeter of the base 24,and are hinged to the base 24. In one embodiment, a linear motor 46 isused to drive a dual-articulated joint network 44 that is coupled to alllegs 26. In this manner, the motor 46 and joint network 44 controls thelowering of the legs 26 into position, allowing for greater control andprecision over that function. The legs 26 may optionally bespring-loaded, to assist the motor 46 in their deployment. The legs maybe outfitted with one or more optional clutches that would allow one ormore of the legs to slip, relative to the joint network 44, if needed,for example in the case where a certain amount of torque is exceeded indriving the legs.

The use of one or more clutches may allow a field unit to self-rightitself from a horizontal position to a desired orientation even thoughone or more legs are obstructed, e.g., by a rock or tree branch. In suchsituations, the unobstructed legs operate and deploy normally due to theclutch slippage, while the obstructed leg(s) remain partially-deployedor non-deployed. Such clutches may also facilitate retrieval of deployedfield units by allowing the legs easily to move to a stowed position.

The base 24 includes a pivot or linear actuator 50 and rotary actuator52 that serve to pivot and rotate the upper body 22 with respect to thebase 24. Operation and composition of the pivot or linear actuator 50and rotary actuator 52 are discussed in further detail below withrespect to FIGS. 3, 4, and 5A–5B. The base 24 includes a shroud 28 thatoperates to protect the inner components of the base 24, while,according to the present invention, also serves to support the weight ofthe upper body 22, as described in further detail below. The shroud maybe formed of any of a number of suitable materials such as plastics,composites, alloys, or sheet metals, and may be formed into shape by anyof a number of suitable methods including, for example, die casting,pressing or machining.

The upper body 22 can be any shape and can be made from any suitablematerial. For example, the upper body 22 may comprise a cylindricalcanister 23, as shown, that houses any of a number of systems,including, for example, a munition or plurality of submunitions,antennae, seismic sensors, acoustic sensors, optic sensors, radarsensors, and the like, as described above. Owing to the amount ofsystems and components that are likely to be housed in the upper body22, the upper body 22 tends to have a large weight that is burdensome toorient in the conventional systems described above. Because of the largeweight, the conventional systems require complex, heavy, and thereforeexpensive mechanical systems for performing the orienting function.

The present invention, however, alleviates this burden by coupling theupper body 22 to the shroud 28 of the base 24 using a gimbal, forexample in the form of a spherical bearing 36. In this example, asupport shaft 48 extends from a lower portion of the upper body 22, andthe support shaft 48 is coupled to the ball, or moving portion, of thespherical bearing 36. The bearing housing 37, or socket, is fixedlymounted to the top of the shroud 28 (see, for example, FIG. 4 discussedbelow) and the spherical bearing 36 rotates freely relative to thebearing housing 37. The support shaft 48 extends through the shroud 28and interfaces with the positioning actuator 60 of the upper body 22,comprising the linear actuator 50 and rotary actuator 52, that arelocated in the base (see, for example, FIG. 3 discussed below). In thismanner, the spherical bearing 36 and shroud 28 bear a substantial amountof the weight of the upper body 22, while relatively little of the loadof the upper body 22 is transferred to the positioning actuator 60through the support shaft 48. This allows for the positioning actuator60 to be formed of relatively small, precise, lightweight, andinexpensive components, while affording an advanced level of precisionin positioning the orientation of the upper body 22. The sphericalbearing 36 may comprise, for example, a bearing of the type availablefrom The Torrington Company, Torrington, Conn.

FIG. 2 is a perspective view of the embodiment of FIG. 1, with the outershroud 28 of the base 24 removed. In this view, it can be seen that theupper body 22 is in the general shape of a canister that is used tocontain various systems. In addition, the components of the positioningactuator 60 are exposed. As mentioned above, the positioning actuator 60includes a pivot or linear actuator 50 and a rotary actuator 52.

The linear actuator 50 includes, in this example, a linear stepper motor38 that operates to drive a carriage 34 along a rail 40 in a lineardirection, as shown. The carriage 34 includes a socket 35 (see FIG. 3,discussed below) that interfaces with a support shaft bearing 54 (seeFIG. 4, discussed below) located at an end of the support shaft 48. Inthis manner, linear movement of the carriage 34, as generated by thelinear actuator 38, is applied to the support shaft bearing 54, whichwhen moved, induces movement of the upper body 22 in an oppositedirection, since the position of the spherical bearing 36 is fixed inthe shroud 28 and thus, the spherical bearing 36 operates as a pivotpoint. The linear stepper motor 38 of the linear actuator 50 maycomprise any of a number of suitable motors, for example, the AH LinearActuator Series motors, available from Anaheim Automation Inc., Anaheim,Calif.

The linear actuator 50 assembly is in turn mounted to a rotary platform32 that is positioned on a top portion of the rotary actuator 52. Therotary actuator 52 comprises, in this example, a rotary stepper motor 30that is mounted to the base housing 25. The stepper motor 30 includes avertical motor shaft that is coupled to the platform 32. In this manner,rotary motion in the rotary actuator 52, as generated by the steppermotor 30 operates to rotate the pivot actuator assembly 50. Rotation ofthe linear actuator assembly 50, in turn, induces a rotary movement inthe upper body 22.

A circuit panel 42 is mounted to the base 24 for controlling theoperation of the stepper motor 30, the linear actuator motor 38, and/orthe leg motor 46. The circuit panel 42 receives commands from systemelectronics, such commands being related to the desired pivot angleand/or desired rotation angle of the upper body 22, and/or related tothe deployment of the legs 26 by leg motor 46.

FIG. 3 is a perspective view of the positioning actuator 60 of theembodiment of FIG. 1, in accordance with the present invention. Asdescribed above, the positioning actuator 60 includes a rotary actuator52, for inducing and controlling the rotation of the upper body 22, anda pivot actuator 50, for inducing and controlling the pivot angle, orinclination angle, of the upper body 22.

The rotary actuator 52 comprises, in this example, a high-torque steppermotor 30 that is mounted to the base housing 25. The stepper motor 30provides for precise control over the angular position of the platform32 that is attached to the shaft of the motor 30. The motor 30 inducesrotation in the pivot actuator 50 in a direction as indicated by arrow66. The rotary stepper motor 30 of the rotary actuator 52 may compriseany of a number of suitable motors, for example, the L SeriesHigh-Torque Step motors, available from Anaheim Automation Inc.,Anaheim, Calif.

The linear or pivot actuator 50 comprises, in this example, a linearstepper motor 38, a pivot bracket, or rail, 40 and a carriage 34. Therail 40 is coupled to the platform 32 and rotates with the platform 32.The linear stepper motor 38 is likewise coupled to the rail 40 andplatform 32. The carriage 34 is configured to slide in a lineardirection relative to the rail 40. A shaft 62 engages the carriage 34 tocontrol the linear position of the carriage 34 relative to the rail 40in a direction as indicated by arrows 68.

In one embodiment, as shown in FIG. 3; the shaft 62 may comprise athreaded drive screw, rotated by a rotary stepper motor 38; that engagesa corresponding female thread in the carriage 34. In this manner,rotation in the screw 62 induces linear motion in the carriage 34. Inanother embodiment, as shown in FIG. 3; the motor may comprise a linearstepper motor 39 that includes a non-threaded shaft 63. In thisembodiment, the non-threaded shaft 63 extends from the body of the motorby an amount that is under the precise control of the motor. The end ofthe shaft 63 in turn engages the carriage 34 for inducing linear motionin the carriage 34 with respect to the rail 40 under the control of themotor 39.

The carriage 34 includes a socket 35 in an upper portion thereof that isconfigured to engage with a corresponding bearing 54 on the end of thesupport shaft 48 of the upper body 22. With reference to the sectionalside view of FIG. 4, the support shaft 48 extends from a lower portionof the upper body and is mounted to the spherical bearing 36 thatrotates within the bearing housing 37. The bearing housing 37 is in turnmounted to an upper portion of the shroud 28. A support shaft bearing 54is located at an end of the support shaft 48, and mates with the socket35 of the carriage 34, for example in a slip-fit relationship.

In this manner, the linear and angular position of the carriage 34, asdirected by the positioning actuator 60, operates to control theposition of the support shaft bearing 54, relative to the sphericalbearing 36. This, in turn, operates to control the tilt angle androtational position of the upper body 22, relative to the base 24, whilelimiting the amount of torque applied to the positioning actuator 60, byprimarily supporting the weight of the upper body 22 using the shroud28.

FIG. 5A is a sectional side view of the embodiment of FIG. 1,illustrating the operation of the pivot actuator 50, in accordance withthe present invention. In this example, it can be seen that the linearactuator motor 38 is activated to induce linear motion in the carriage34, in the direction of arrow 68. As a result of the linear motion ofthe carriage in the direction of arrow 68, the support shaft 48 becomestilted with respect to the shroud 28, and an inclination angle a isinduced in the upper body 22.

FIG. 5B is a sectional side view of the embodiment of FIG. 1,illustrating the operation of the rotary actuator 52, in accordance withthe present invention. In this example, assuming the inclination angle αto have been previously selected, the rotary stepper motor 30 isactivated to induce rotational motion of the platform 32, and thecorresponding pivot actuator 50, in the direction of arrow 66. As aresult of the rotational motion of the platform in the direction ofarrow 66, the support shaft 48 swivels with respect to the shroud 28 viaspherical bearing 36, and the upper body is rotated by an angulardisplacement amount β, of 180 degrees in this example.

While the above example illustrates rotational orientation of the upperbody 22 following inclination angle α positioning, the present inventionis equally applicable to embodiments that induce rotational orientationof the upper body 22 during inclination angle α positioning, and priorto inclination angle α positioning.

FIG. 6A is a perspective view of the interface of the support shaftbearing 54 and the carriage socket 35 in accordance with the embodimentdescribed above. FIGS. 6B and 6C are side views of the interaction ofthe carriage socket 35, spherical support shaft bearing 54 and thespherical bearing 36, 37 of the shroud 28. The socket, or fixed portion37, of the spherical bearing is coupled to the shroud 28, as describedabove. The ball, or moving portion 36, of the spherical bearing iscoupled to the support shaft 48 of the upper body. The support shaft 48is coupled at a first end to a mounting plate 49, configured to receivean upper body. A second end of the support shaft 48 includes a ball, orspherical, bearing 54 that mates with a spherical socket 35 of thecarriage 34, as described above. As shown in the diagrams of FIGS. 6Band 6C, motion in the carriage 34, initiated by the linear actuator,causes the support shaft 48 to pivot, relative to the spherical bearingsocket 37 that is fixed in the shroud 28.

FIG. 7A is a perspective view of an alternative interface of the shaftbearing and the carriage socket, wherein the shaft bearing is in theform of a disk bearing 76 in accordance with the embodiment describedabove. FIGS. 7B and 7C are side views of the interaction of thecorresponding carriage socket 77, disk shaft bearing 76 and thespherical bearing 36, 37 of the shroud 28. In this embodiment, thesecond end of the support shaft 48 includes a disk-shaped bearing 76that mates with a corresponding disk-shaped socket 77 of the carriage34. As shown in the diagrams of FIGS. 7B and 7C, motion in the carriage34, initiated by the linear actuator, causes the support shaft 48 topivot, relative to the bearing socket 37 that is fixed in the shroud 28.

While the above example of FIGS. 5A and 5B illustrate the inducement ofan inclination angle α in a first direction, assumed to be a positivedirection, the carriage 34, and associated linear actuator motor 38 andrail 40 can optionally be configured to allow for inducement of ainclination angle α in the opposite, or negative, direction. Assumingthis configuration, by combining the operation of the linear actuatorand the rotary actuator 52, all inclination angles and angularorientations of the upper body 22 over a 360 degree range can beachieved by a corresponding 180 degree range of motion in the rotaryactuator 52 when a spherical bearing is used as the support shaftbearing, e.g., 54 in FIG. 4 and FIG. 6A. Thus, by optionally limitingthe rotary actuator 52 to a 180 degree range in this manner, the pivotactuator 50 motor 38 on the rotating platform 32 can be wired directly,without the need for wireless optical transmission of signals and/or theuse of brushes for transferring signals to the rotating platform, sincethe possibility of full rotation by the platform is eliminated.

FIG. 8 is a flow diagram of a method of controlling the rotation angleand inclination angle of a body in accordance with the presentinvention. At step 102, a controller determines and transmits thedesired angular position of a displacement member about a longitudinalaxis of a base to a rotary actuator. The rotary actuator, at step 106,moves the displacement member over a continuous range of angularpositions to a desired angular position 110. At step 104, the controllerdetermines and transmits the desired linear position of the displacementmember relative to the longitudinal axis of the base to a linearactuator. The linear actuator, at step 108, moves the displacementmember over a continuous range of linear positions to a desired linearposition 112. As discussed above, the displacement member is pivotablycoupled to a support shaft of the body at a first position of thesupport shaft and the support shaft is pivotably coupled to the shroudat a second position of the support shaft. In this manner, the angularposition and linear position of the displacement member is translated toa corresponding rotation angle and inclination angle in the supportshaft and corresponding body at step 114.

In this manner, the present invention provides for control over theinclination angle and rotational orientation of the upper body over acontinuous range of angles. A continuous range allows for greaterprecision in orienting the upper body, in contrast with the conventionalsystems that have a fixed inclination angle and indexed rotationalpositions. This is accomplished through the use of commerciallyavailable stepper motors, rather than specialized mechanical systems,limiting expense, lowering weight, and improving reliability over theconventional approaches. In addition, the weight of the upper body issupported primarily or entirely by the shroud of the base, therebyallowing for greater precision in orienting the upper body, while usinglightweight, precise components in the underlying position actuator.

Another advantage of the present invention lies in the ability toself-level or position the upper body of the unit. Illustratively, inthe case where a field unit is deployed on a steep bank or hill, theangle of the hill can be compensated for by adjusting the inclinationangle of the upper body accordingly. For example, where the unit isdeployed on a 10 degree bank, the upper body can be positioned by thepositioning actuator to be level and upright, while the base remainsperpendicular to the slope of the hill. In this manner, the unit is ableto carry out its mission without being limited by the slope. For such aterrain condition, the upper body can be set or positioned anywhere withthe continuous inclination and rotation ranges relative the base,whereas, in conventional field units, certain slope angles, when addedto the fixed inclination angle of the upper body, would aim the upperbody of a field unit in an undesired direction, e.g., into the side of ahill.

While this invention has been particularly shown and described withreferences to preferred embodiments thereof, it will be understood bythose skilled in the art that various changes in form and details may bemade herein without departing from the spirit and scope of the inventionas defined by the appended claims.

For example, while the above illustration utilizes a spherical bearingfor coupling the support shaft 48 of the upper body to the shroud 28,any of a number of different universal joints or gimbals, or otherjoints, may be employed that allow such freedom of motion. In addition,while a single spherical bearing is employed above, multiple sphericalbearings may be nested to allow for a greater range of motion in theupper body relative to the base.

1. A method for controlling the inclination angle and rotation angle ofa body comprising: controlling, using a rotary actuator, the angularposition of a displacement member about an axis of rotation of therotary actuator over a continuous range of angular positions; andcontrolling, using a linear actuator, the linear position of thedisplacement member relative to the axis of rotation of the rotaryactuator along a linear axis over a continuous range of linearpositions, the angular position and the linear position of thedisplacement member being relative to the axis of rotation of the rotaryactuator, the displacement member being pivotably coupled to a supportshaft of the body at a first position of the support shaft and thesupport shaft being pivotably coupled to the base at a second positionof the support shaft such that the angular position and linear positionof the displacement member is translated to a corresponding rotationangle and inclination angle in the support shaft, the axis of rotationof the rotary actuator intersecting the support shaft at the secondposition of the support shaft over the continuous range of angularpositions and over the continuous range of linear positions of thedisplacement member.
 2. The method of claim 1 further comprisingcoupling the body to the support shaft.
 3. The method of claim 2 whereinthe step of coupling the body comprises coupling a cylindrical canistercontaining sensors or munitions to the support shaft.
 4. The method ofclaim 1 wherein the step of controlling the angular position includesusing a stepper motor.
 5. The method of claim 1 wherein the step ofcontrolling the linear position includes inducing motion in a threadedscrew.
 6. The method of claim 5 wherein the step of inducing motion inthe threaded screw includes communicating with a displacement carriageof the displacement member.
 7. The method of claim 1 wherein the step ofcontrolling the linear position includes inducing linear motion in anon-threaded output shaft, the output shaft communicating with thedisplacement member for inducing linear motion in the displacementmember.
 8. The method of claim 1 further comprising housing the base ina shroud and pivotably coupling the support shaft to the shroud at apoint along a longitudinal axis of the base.
 9. The method of claim 8further comprising coupling the body having a weight to the supportshaft and substantially supporting the weight by the shroud.
 10. Themethod of claim 8 wherein the step of pivotably coupling the supportshaft includes using a spherical bearing.
 11. The method of claim 1further comprising determining a desired inclination angle and a desiredrotation angle of the body relative to the base.
 12. The method of claim11 further comprising determining, at an automated controller, a desiredangular position of the displacement member about the axis of rotationof the rotary actuator, and determining a desired linear position of thedisplacement member relative to the axis of rotation of the rotaryactuator in response to the desired inclination angle and rotation angleof the body.
 13. The method of claim 12 further comprising transmittinga signal indicative of the desired angular position from the automatedcontroller to the rotary actuator, and transmitting a signal indicativeof the desired linear position from the automated controller to thelinear actuator.
 14. A method for positioning a body comprising:inclining a support shaft through a continuous range of inclinationangles relative to an axis of rotation of a rotary actuator by moving afirst portion of the support shaft along a linear axis relative to theaxis of rotation of the rotary actuator using a linear actuator;rotating, using the rotary actuator, the support shaft through acontinuous range of rotation angles about, and relative to, the axis ofrotation of the rotary actuator; and moving the body coupled to a secondportion of the support shaft to a desired rotation angle and inclinationangle relative to the axis of rotation of the rotary actuator, thesupport shaft being pivotably coupled to the base at a third portion ofthe support shaft, the axis of rotation of the rotary actuatorintersecting the support shaft at the third portion of the support shaftover the continuous range of inclination angles and over the continuousrange of rotation angles of the support shaft.
 15. The method of claim14 wherein the rotary actuator comprises a stepper motor.
 16. The methodof claim 14 wherein the linear actuator comprises a stepper motor thatinduces motion in a threaded screw, and wherein the support shaft iscoupled to the linear actuator at a displacement member, the threadedscrew communicating with a corresponding thread in the displacementmember for inducing linear motion in the displacement member.
 17. Themethod of claim 14 wherein the linear actuator comprises a stepper motorthat induces linear motion in an output shaft, and wherein the supportshaft is coupled to the linear actuator at a displacement member, theoutput shaft communicating with the displacement member for inducinglinear motion in the displacement member.
 18. The method of claim 14further comprising determining, at an automated controller, a desiredrotation angle and a desired inclination angle of the body coupled tothe support shaft, relative to the base, and transmitting commandsrelated to the desired rotation angle and inclination angle of the body.19. The method of claim 18 wherein the first portion of the supportshaft is moved along the linear axis by the linear actuator in responseto the commands.
 20. The method of claim 18 wherein the support shaft isrotated about, and relative to, the axis of rotation of the rotaryactuator, by the rotary actuator, in response to the commands.
 21. Amethod for controlling the inclination angle and rotation angle of abody comprising: determining a desired inclination angle and rotationangle of a body relative to a base; determining, at an automatedcontroller, a desired angular position of a displacement member about anaxis of rotation of a rotary actuator and determining a desired linearposition of the displacement member relative to the axis of rotation ofthe rotary actuator in response to the desired inclination angle androtation angle of the body; transmitting a first signal indicative ofthe desired angular position from the automated controller to the rotaryactuator; transmitting a second signal indicative of the desired linearposition from the automated controller to a linear actuator;controlling, using the rotary actuator, the angular position of thedisplacement member about the axis of rotation of the rotary actuatorover a continuous range of angular positions, in response to thetransmitted first signal; and controlling, using the linear actuator,the linear position of the displacement member along a linear axis overa continuous range of linear positions, in response to the transmittedsecond signal, the displacement member being pivotably coupled to asupport shaft of the body at a first position of the support shaft andthe support shaft being pivotably coupled to the base at a secondposition of the support shaft such that the angular position and linearposition of the displacement member is translated to a correspondingdesired rotation angle and inclination angle in the support shaft andbody.
 22. The method of claim 21 wherein the angular position and thelinear position of the displacement member is controlled relative to theaxis of rotation of the rotary actuator.
 23. The method of claim 21,wherein the axis of rotation of the rotary actuator intersects thesupport shaft at the second position of the support shaft over thecontinuous range of angular positions and over the continuous range oflinear positions of the displacement member.
 24. A method forpositioning a body comprising: determining, at an automated controller,a desired rotation angle and a desired inclination angle of a bodycoupled to a support shaft, relative to a base, and transmittingcommands related to the desired rotation angle and inclination angle ofthe body; inclining the support shaft through a continuous range ofinclination angles by moving a first portion of the support shaft alonga linear axis using a linear actuator, in response to the commands;rotating, using a rotary actuator, the support shaft through acontinuous range of rotation angles about, and relative to, an axis ofrotation of the rotary actuator, in response to the commands, the movingof the first portion of the support shaft along the linear axis beingrelative to the axis of rotation of the rotary actuator; and moving thebody coupled to a second portion of the support shaft to the desiredrotation angle and inclination angle relative to the axis of rotation ofthe rotary actuator, the support shaft being pivotably coupled to thebase at a third portion of the support shaft, the third portion of thesupport shaft being between the first and the second portions of thesupport shaft.
 25. The method of claim 24, wherein the axis of rotationof the rotary actuator intersects the support shaft at the third portionof the support shaft over the continuous range of inclination angles andover the continuous range of rotation angles of the support shaft.